A Designing Method of the Passive Dynamic Walking Robot via Analogy with Phase Locked Loop Circuits

Abstract

In this paper we ascertained the analogous behavior between Phase locked loop circuit and the passive dynamic walking robot, and showed the effective property to get set-up parameters and initial conditions. Then we proposed one method to fix the physical parameters and conditions which cause the desired walking gaits, and at last we showed the compensation method which is effective to stabilize the bifurcated gait of the robot. The proposed method which is inspired by the analogy with Phase locked loop circuit is probably valuable for designing the passive dynamic walking robot before beginning the actual prototyping. For the future work, we try to investigate the characteristic behavior of the passive dynamic walking robot which is similar to the Lock behavior of Phase locked loop circuit in detail. The behavior seems to be a kind of property of the limit cycle, so we may describe the behavior mathematically. Then we try to increase the degree of freedom of the passive dynamic walking robot and also try to simulate if the same behavior appears or not when the degree of freedom is increased. And then, the actual experiment by means of the real prototype is needed to verify the proposed method in this paper.